M'ndandanda wazopezekamo[Bisani][Show]
Ma robotiki ndi chisakanizo chapadera cha sayansi ndiukadaulo chomwe chimapanga makina omwe amatengera zochita za anthu.
Kumayambiriro kwa zaka za m'ma 2000, 90% ya maloboti anali m'mafakitale opangira magalimoto m'malo mwa anthu kuti azigwira ntchito zobwerezabwereza. Panopa maloboti amatha kusesa m’nyumba ngakhalenso kukatumikira m’malesitilanti.
Loboti nthawi zambiri imakhala ndi mitundu itatu ya zigawo; makina thupi; mafupa amagetsi, ndipo potsiriza ubongo wopangidwa ndi code.
Zigawozi zimalola loboti kusonkhanitsa deta (nthawi zambiri kuchokera ku masensa), kupanga zisankho kudzera m'malingaliro okonzedwa kuti asinthe machitidwe ndi kumaliza ntchito.
Maloboti akhoza kukhala ndi mapulogalamu amitundu itatu; Remote Control (RC), Nzeru zochita kupanga (AI), kapena Hybrid.
Mapulogalamu a RC amafuna kulowererapo kwa munthu yemwe angapereke chiyambi ndi / kapena chizindikiro choyimitsa kuti agwire kachidindo ku robot. Mapulogalamu amakhala ndi mitundu yosiyanasiyana ya ma algorithms, iliyonse ili ndi ntchito yosiyana.
Kodi algorithm ndi chiyani?
Algorithm ndi mizere yama code yomwe loboti ingagwiritse ntchito popanga malangizo ena. Imamasulira malingaliro a wopanga m'chinenero chomwe chimamveka bwino ndi ma robot.
Ma aligorivimu amatha kuwonetsedwa muzolemba zamitundu yambiri, kuphatikiza ma pseudocode, ma flowcharts, zilankhulo zamakompyuta, kapena ma control table.
M'nkhaniyi tikambirana mitundu ina ya ma algorithms omwe amagwiritsidwa ntchito pamapulogalamuwa.
Mitundu ya ma algorithms omwe amagwiritsidwa ntchito mu robotics
1. Nthawi Iliyonse A* Algorithm
A * algorithm ndi njira yofufuzira njira yomwe imagwiritsidwa ntchito kupeza njira yabwino kwambiri pakati pa mfundo ziwiri, mwachitsanzo, ndi mtengo wocheperako.
Nthawi iliyonse A * Algorithm imakhala ndi mtengo wosinthika wa nthawi ndipo imatha kubweza njira yaifupi kwambiri ngakhale itasokonezedwa chifukwa imapanga yankho losakwanira kaye kenako ndikulikonza.
Izi zimalola kupanga zisankho mwachangu popeza loboti imatha kupanga pamawerengedwe am'mbuyomu m'malo mongoyambira.
Kodi ntchito?
Imachita izi popanga 'mtengo' womwe umapitilira kuyambira koyambira mpaka njira yothetsera itayambika zomwe zikutanthauza kuti pali njira yotsika mtengo yomwe ilipo.
A 2D Grid amapangidwa ndi zopinga ndipo selo loyambira ndi ma cell omwe amalowera amakhala ndi ma pini.
Algorithm imatanthawuza 'mtengo' wa nodi ndi f womwe uli kuchuluka kwa magawo g (mtengo wosuntha kuchoka pa nodi yoyambira kupita ku mfundo yomwe ikufunsidwa) ndi h (mtengo wosuntha kuchoka pa mfundo yomwe ikufunsidwa kupita kumalo omwe mukufuna).
Mapulogalamu
Masewera ambiri ndi mamapu ozikidwa pa intaneti amagwiritsa ntchito njira iyi kuti apeze njira yachidule bwino. Itha kugwiritsidwanso ntchito pama robot am'manja.
Mukhozanso kuthetsa mavuto ovuta monga Newton-Raphson kubwereza kumagwiritsidwa ntchito popeza masikweya mizu ya nambala.
Amagwiritsidwanso ntchito pamavuto a trajectory kulosera zakuyenda ndi kugunda kwa chinthu mumlengalenga.
2. D* Algorithm
D*, Focused D* ndi D* Lite ndi masakidwe owonjezera kuti mupeze njira yayifupi kwambiri pakati pa mfundo ziwiri.
Iwo, komabe, ndi osakanikirana a ma algorithms a A * ndi zatsopano zomwe zapezedwa zomwe zimawalola kuwonjezera chidziwitso pamapu awo pazopinga zosadziwika.
Kenako amatha kuwerengeranso njira potengera zatsopano, monga Mars Rover.
Kodi ntchito?
Ntchito ya D * Algorithm ikufanana ndi ya A *, ndondomeko yoyamba imatanthawuza f, h ndikupanga mndandanda wotseguka ndi wotsekedwa.
Pambuyo pa izi, D * Algorithm imatsimikizira kuchuluka kwa nodi ya g pogwiritsa ntchito mtengo wa g wa ma node oyandikana nawo.
Node iliyonse yoyandikana nayo imayerekezera za mtengo wa g womwe ulipo ndipo mtengo wamfupi kwambiri wa g umasinthidwa kukhala mtengo watsopano wa g.
Mapulogalamu
D * ndi mitundu yake imagwiritsidwa ntchito kwambiri pamaroboti am'manja ndi galimoto yodziyimira payokha kuyenda.
Mayendedwe oterewa akuphatikiza makina oyeserera omwe amayesedwa pa Mars rovers Opportunity and Spirit ndi navigation system yomwe idapambana. DARPA Urban Challenge.
3. Algorithm ya PRM
A PRM, kapena probabilistic roadmap, ndi netiweki graph ya njira zotheka kutengera malo aulere ndi omwe ali pa mapu operekedwa.
Amagwiritsidwa ntchito m'machitidwe ovuta kukonzekera komanso kupeza njira zotsika mtengo kuzungulira zopinga.
Ma PRM amagwiritsa ntchito mfundo zachisawawa pamapu awo pomwe chida cha loboti chimatha kusuntha kenako njira yachidule kwambiri imawerengedwa.
Kodi ntchito?
PRM imakhala ndi gawo lomanga ndi kufunsa.
Mu gawo loyamba, mapu amsewu amajambulidwa omwe amayandikira kusuntha komwe kungachitike. Kukonzekera kwachisawawa kumapangidwa ndikulumikizidwa kwa oyandikana nawo.
Kukonzekera koyambira ndi zolinga kumalumikizidwa ndi graph mu gawo lafunso. Njirayo imapezedwa ndi a Njira yayifupi kwambiri ya Dijkstra funso.
Mapulogalamu
PRM imagwiritsidwa ntchito pokonza mapulani am'deralo, pomwe algorithm imawerengera njira yowongoka pakati pa mfundo ziwiri, zomwe ndi zoyambira, ndi zolinga.
Ma algorithm atha kugwiritsidwanso ntchito kukonza mapulani anjira ndikuzindikira kugundana.
4. Zero Moment Point (ZMP) Algorithm
Zero Moment Point (njira ya ZMP) ndi algorithm yogwiritsidwa ntchito ndi maloboti kuti asunge chiwopsezo chonse chotsutsana ndi mphamvu ya pansi.
Algorithm iyi imagwiritsa ntchito lingaliro la kuwerengera ZMP ndikuigwiritsa ntchito m'njira yolinganiza maloboti a bipedal. Kugwiritsa ntchito algorithm iyi pamtunda wosalala kumapangitsa kuti loboti iyende ngati kuti palibe mphindi.
Makampani opanga zinthu monga ASIMO (Honda) amagwiritsa ntchito njirayi.
Kodi ntchito?
Kuyenda kwa loboti yoyenda kumakonzedwa pogwiritsa ntchito angular momentum equation. Imawonetsetsa kuti kusuntha komwe kumapangidwa kumatsimikizira kukhazikika kwamaloboti.
Kukhazikika uku kumawerengedwera ndi mtunda wa zero-mphindi (yowerengedwa ndi algorithm) mkati mwa malire a dera lokhazikika lomwe lafotokozedwatu.
Mapulogalamu
Zero mphindi mfundo zitha kugwiritsidwa ntchito ngati metric kuyesa kukhazikika kwa maloboti ngati iRobot PackBot poyenda panjira ndi zopinga.
5. Proportional Integral Differential (PID) Control Algorithm
Proportional Integral Differential Control kapena PID, imapanga cholumikizira cha sensor kuti chisinthe makonzedwe azinthu zamakina powerengera mtengo wolakwika.
Ma aligorivimuwa amaphatikiza ma coefficients onse atatu, mwachitsanzo, gawo, gawo, ndi zotumphukira kotero kuti zimapanga chizindikiro chowongolera.
Imagwira ntchito munthawi yeniyeni ndipo imagwiritsa ntchito zowongolera pakufunika. Izi zitha kuwoneka mu magalimoto oyendetsa galimoto.
Kodi ntchito?
Woyang'anira PID amagwiritsa ntchito mawu atatu owongolera olingana, ophatikizika komanso otengera kutulutsa kwake kuti agwiritse ntchito kuwongolera kolondola komanso koyenera.
Wowongolera uyu amawerengera mosalekeza mtengo wolakwika ngati kusiyana pakati pa malo omwe mukufuna ndi njira yoyezera.
Kenako imagwiritsa ntchito kuwongolera kuti muchepetse cholakwikacho pakapita nthawi ndikusintha kusintha kosintha.
Mapulogalamu
Wowongolera uyu amatha kuwongolera njira iliyonse yomwe ili ndi zotuluka zoyezera, mtengo wodziwika bwino wa zomwe zimatuluka, ndi zolowetsa munjira zomwe zingakhudze zomwe zingayesedwe.
Owongolera amagwiritsidwa ntchito m'makampani kuti aziwongolera kutentha, kuthamanga, mphamvu, kulemera, malo, liwiro ndi zina zilizonse zomwe muyeso ulipo.
Kutsiliza
Chifukwa chake, awa anali ena mwa ma algorithms omwe amagwiritsidwa ntchito kwambiri mu robotics. Ma aligorivimu onsewa ndi ovuta komanso osakanikirana, algebra ya mzere ndi ziwerengero zomwe zimagwiritsidwa ntchito polemba zochita ndi kuyenda.
Komabe, momwe ukadaulo ukupita patsogolo ma algorithms a robotic amakula kukhala ovuta kwambiri. Maloboti azitha kumaliza ntchito zambiri ndikudziganizira okha.
Ngati mudakonda nkhaniyi, lembetsani ku HashDork's Weekly zosintha kudzera pamaimelo, komwe timagawana nkhani zaposachedwa za AI, ML, DL, Programming & Future Tech.
Siyani Mumakonda